Energy management and dynamic control for skid-steered unmanned special vehicle with range-extended system

In order to achieve the fast mobility of a skid-steered unmanned special vehicle with range-extended system, the extended range system model is explored and established, the economic optimal operating point matching the power performance requirement is extracted, and the energy management strategy with feedforward-feedback tracking power controller is designed. Aiming at addressing the problem that the dynamic control is easily degraded owing to parameter uncertainty and actuator saturation in vehicle motion system, the anti-saturation feedforward-feedback control law is explored and developed based on Lyapunov method. The results of simulation and real vehicle test show that the designed energy management strategy has satisfied transient and steady-state power tracking performance, and the designed dynamic control strategy has satisfied transient and steady-state handling performance, which meets the requirement of rapid and stable manoeuvrability for the skid-steered unmanned special vehicle with extended range system.